A performance testing device for humanoid robot joint modules

Abstract

This invention discloses a performance testing device for humanoid robot joint modules, relating to the field of joint module performance testing technology. It includes a body with a worktable mounted on its top; a slide rail mounted on top of the worktable; a mounting mechanism slidably connected to the outside of the slide rail, the mounting mechanism including an arc-shaped pressure plate and a second slider, the second slider having a contact component mounted on its outside, the second slider being used to drive the contact component to contact the arc-shaped pressure plate; a first slide groove formed inside the body, with a first slider slidably connected inside the first slide groove; and a testing mechanism mounted outside the first slider, the testing mechanism including a swing plate for connecting to the joint module under test. This humanoid robot joint module performance testing device achieves the goal of improving equipment utilization efficiency.

Description

Technical Field

[0001] This invention relates to the field of joint module performance testing technology, specifically to a humanoid robot joint module performance testing device. Background Technology

[0002] With the continuous development of humanoid robot technology, the performance of integrated joint modules, as key components of robots, directly affects the overall performance and reliability of robots. In practical applications, the joint modules of humanoid robots need to withstand various complex loads and motion states, so accurate performance testing and optimization are crucial.

[0003] A humanoid robot joint module performance testing system is disclosed in patent CN119223608B3. This system uses positioning claws and blocks to position the joint modules, allowing for a better understanding of their compressive strength and stability in actual use. This provides accurate data support for robot design and optimization, preventing joint module displacement during testing and ensuring accurate performance test data, such as pressure and deformation measurements. However, prolonged contact and fixation of the joint module with positioning claws to control its position can easily damage the outer surface of the joint module. Summary of the Invention

[0004] To overcome the problem that the outer surface of the joint module is easily damaged when the positioning claw is in long-term contact with the fixed joint module and controls the position of the joint module, the present invention provides a humanoid robot joint module performance testing device, including a body, and a worktable is installed on the top of the body;

[0005] A slide rail, which is mounted on the top of the worktable;

[0006] The mounting mechanism is slidably connected to the outside of the slide rail. The mounting mechanism includes an arc-shaped pressure plate and a second slider. A contact component is mounted on the outside of the second slider. The second slider is used to drive the contact component to contact the arc-shaped pressure plate.

[0007] A first slide groove is formed inside the machine body, and a first slider is slidably connected inside the first slide groove.

[0008] A testing mechanism is installed outside the first slider, and the testing mechanism includes a swing plate for connecting to the joint module under test.

[0009] Preferably, it further includes:

[0010] The first push rod is installed inside the machine body. There are two first push rods, which are arranged symmetrically.

[0011] A movable plate is mounted outside the first push rod, and a first contact point is mounted on the outside of the movable plate;

[0012] The mounting bracket is located on the top of the workbench, and the power supply box is located at the bottom of the mounting bracket.

[0013] Preferably, the mounting mechanism further includes:

[0014] A movable frame is slidably connected to the outside of a slide rail, a screw is mounted on the outside of the movable frame, and a steering wheel is mounted on the outside of the screw;

[0015] A partition panel is installed on top of the mobile frame, and a passage is provided inside the partition panel.

[0016] Preferably, the mounting mechanism further includes:

[0017] A semi-circular plate, wherein the semi-circular plate is installed on the outside of the enclosure plate by screws, and two semi-circular plates are provided and arranged symmetrically;

[0018] An arc-shaped plate is installed on the outside of the semi-circular plate. Four arc-shaped plates are provided and evenly distributed.

[0019] The second slide groove is formed inside the enclosure, and the second slider is slidably connected inside the second slide groove.

[0020] Preferably, the mounting mechanism further includes:

[0021] The second push rod is installed on the outside of the enclosure panel and is connected to the arc-shaped pressure plate.

[0022] Contact strips are installed on the outside of the arc-shaped pressure plate, and multiple contact strips are provided;

[0023] The second contact is located on the outside of the arc-shaped pressure plate, and there are multiple second contacts.

[0024] Preferably, the contact assembly includes:

[0025] A connecting plate is installed outside the second slider; two connecting plates are provided and arranged symmetrically.

[0026] The third push rod is mounted on the outside of the connecting plate, and a connector is mounted on the outside of the third push rod;

[0027] A movable rod is installed inside the connector. A brush head and a pointed plate are installed at the end of the movable rod away from the connector, and a blocking plate is installed at the end of the movable rod close to the connector.

[0028] A rubber housing, which is fitted onto the end of the movable rod near the connector;

[0029] The buckle plate is installed inside the second slider. There are two buckle plates, which are arranged symmetrically.

[0030] Preferably, the testing mechanism further includes:

[0031] The fourth push rod is installed outside the first slider. A locking rod is installed outside the fourth push rod. The locking rod is connected to the swing plate and passes through the interior of the swing plate.

[0032] A retaining ring is mounted on the outside of the swing plate;

[0033] A buckle is fitted onto the outside of the locking rod and is adapted to the fixing ring.

[0034] Preferably, the testing mechanism further includes:

[0035] A connecting shaft is installed inside the swing plate, and a flange is installed on the outside of the connecting shaft;

[0036] A loading assembly is mounted on the outside of the swing plate.

[0037] Preferably, the loading component includes:

[0038] A fixing groove is formed inside the swing plate, and multiple fixing grooves are formed.

[0039] A fixing bracket is installed inside a fixing groove, and a through hole is provided inside the fixing bracket;

[0040] The straps are mounted on the outside of the fixing frame and are made of rubber.

[0041] A base plate is installed on the outside of the swing plate, and a fifth push rod is installed on the top of the base plate. There are two fifth push rods, which are arranged symmetrically.

[0042] A locking post is installed on the top of the fifth push rod, and the locking post passes through a through hole.

[0043] This invention provides a performance testing device for a humanoid robot joint module. It has the following beneficial effects:

[0044] 1. This humanoid robot joint module performance testing equipment uses an installation mechanism to flexibly fix the joint module under test and a moving frame to control its position. Four curved rubber plates and multiple rubber contact strips are used to flexibly fix the joint module, and the position of the joint module is adjusted by controlling the forward or backward movement of the moving frame. This avoids external damage to the joint module caused by rigid fixing or control of its movement.

[0045] 2. This humanoid robot joint module performance testing equipment, by setting up contact components, allows for the movement of the arc-shaped plate before installing the joint module under test, promoting the removal of impurities and dust from the outside of the arc-shaped plate. Before installing the joint module under test, the brush head contacts the contact strip and the second contact point, promoting the removal of dust and impurities from the outside of the contact strip and the second contact point. After installing the joint module under test, excess cable length is placed away, shortening the cable length accumulated on the worktable.

[0046] 3. This humanoid robot joint module performance testing equipment restricts the position of the swing plate by setting up a testing mechanism and loading components. Before using the equipment, the position of the swing plate is restricted by the locking rod, making it easy for the user to connect the swing plate to the joint module under test. When using the equipment, the joint module controls the swing plate to be in a vertical state, allowing circular blocks of the same weight to be placed in different fixed frames sequentially, or circular blocks of different weights to be placed in the same fixed frame sequentially, to observe the effect of different weights at different positions on the joint module under test.

[0047] 4. This humanoid robot joint module performance testing equipment, through the setting of an installation mechanism and a testing mechanism, performs positional limitation and testing on the joint module under test. The joint module under test is fixed in position using a flexible fixing method, and during the fixing process, cables are wound and placed, while the temperature of the joint module under test is monitored in real time. Using an adjustable circular block swing plate, the joint module under test controls the swing plate's swing, bringing it into contact with the first contact point, thereby determining the impact of different weights at different positions of the swing plate on the joint module under test. Attached Figure Description

[0048] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0049] Figure 2 This is a side view of the present invention;

[0050] Figure 3 This is a schematic diagram of the installation mechanism of the present invention;

[0051] Figure 4 For the present invention Figure 3 Schematic diagram of the structure at point A;

[0052] Figure 5 This is a schematic diagram of the contact component structure of the present invention;

[0053] Figure 6 This is a schematic diagram of the testing mechanism structure of the present invention;

[0054] Figure 7 For the present invention Figure 6 Schematic diagram of the structure at point B;

[0055] Figure 8 This is a schematic diagram of the loading component structure of the present invention.

[0056] In the diagram: 1. Body; 2. Workbench; 3. Slide rail; 4. Mounting mechanism; 401. Moving frame; 402. Enclosure; 403. Screw; 404. Steering wheel; 405. Semi-ring plate; 406. Arc-shaped plate; 407. Second slide groove; 408. Second slider; 409. Contact assembly; 4091. Connecting plate; 4092. Third push rod; 4093. Connecting piece; 4094. Moving rod; 4095. Brush head; 4096. Sharp corner plate; 4097. Rubber shell; 4098. Blocking plate; 4099. Buckle plate; 410. Channel; 411. Second push rod 412. Rod; 413. Arc-shaped pressure plate; 414. Contact strip; 415. Second contact point; 5. First slide groove; 6. First slider; 7. Test mechanism; 701. Fourth push rod; 702. Swing plate; 703. Locking rod; 704. Buckle; 705. Fixing ring; 706. Connecting shaft; 707. Flange; 708. Loading assembly; 7081. Base plate; 7082. Fifth push rod; 7083. Locking post; 7084. Fixing frame; 7085. Strap; 7086. Fixing groove; 8. First push rod; 9. Moving plate; 10. First contact point; 11. Mounting frame. Detailed Implementation

[0057] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments. The embodiments of the present invention are given for illustrative and descriptive purposes only, and are not intended to be exhaustive or to limit the invention to the forms disclosed. Many modifications and variations will be apparent to those skilled in the art. The embodiments were chosen and described to better illustrate the principles and practical application of the invention, and to enable those skilled in the art to understand the invention and design various embodiments with various modifications suitable for a particular purpose.

[0058] like Figures 1-8 As shown, the present invention provides a technical solution: including a body 1, and a worktable 2 is installed on the top of the body 1;

[0059] Slide rail 3 is installed on the top of worktable 2. There are two slide rails 3, which are arranged symmetrically.

[0060] Mounting mechanism 4 is slidably connected to the outside of slide rail 3. Mounting mechanism 4 includes arc-shaped pressure plate 412 and second slider 408. The second slider 408 is provided with a second power system inside and a contact component 409 is installed on the outside of the second slider 408. The second slider 408 is used to drive the contact component 409 to contact the arc-shaped pressure plate 412.

[0061] The first slide groove 5 is opened inside the body 1. The first slide groove 5 is slidably connected to the first slider 6. The first slider 6 is equipped with a first power system inside.

[0062] The test mechanism 7 is installed outside the first slider 6. The test mechanism 7 includes a swing plate 702, which is used to connect with the joint module to be tested.

[0063] The first push rod 8 is installed inside the body 1. There are two first push rods 8, which are arranged symmetrically.

[0064] The movable plate 9 is installed outside the first push rod 8. The first contact 10 is installed outside the movable plate 9 and the first contact 10 is connected to an external pressure sensor.

[0065] Mounting bracket 11 is located on top of workbench 2, and a power supply box is located at the bottom of mounting bracket 11.

[0066] Before using the equipment, manually install the joint module to be tested inside the mounting mechanism 4. Then, adjust the position of the joint module to be tested by adjusting the mounting mechanism 4. Turn on the first power system in the first slider 6, and the first slider 6 moves to the middle position in the first slide groove 5. Adjust the testing mechanism 7 so that the swing plate 702 is connected to the joint module to be tested. Then, turn on the first push rod 8, which drives the moving plate 9 to move away from the machine body 1. Adjust the testing mechanism 7, turn on the power box, and then control the opening of the joint module. The joint module begins to drive the swing plate 702 to rotate. The swing plate 702 begins to swing and contacts the first contact points 10 on both sides. The first contact points 10 transmit signals to the pressure sensor. Based on the signal reception time of the pressure sensor, the swing frequency is determined, and thus the performance of the joint module to be tested is determined.

[0067] Installation mechanism 4 also includes:

[0068] The movable frame 401 is slidably connected to the outside of the slide rail 3. A screw 403 is installed on the outside of the movable frame 401, and a steering wheel 404 is installed on the outside of the screw 403. The screw 403 is rotated by manually turning the steering wheel 404, thereby adjusting the position of the movable frame 401 outside the slide rail 3.

[0069] Enclosure 402 is installed on top of the movable frame 401, and a passage 410 is provided inside the enclosure 402;

[0070] The semi-ring plate 405 is installed on the outside of the enclosure plate 402 by screws. There are two semi-ring plates 405, which are arranged symmetrically.

[0071] Arc-shaped plate 406 is installed on the outside of semi-ring plate 405. There are four arc-shaped plates 406, which are evenly distributed. The arc-shaped plates 406 are made of rubber.

[0072] The second slide 407 is formed inside the enclosure 402, and the second slider 408 is slidably connected inside the second slide 407.

[0073] The second push rod 411 is installed on the outside of the enclosure 402 and is connected to the arc-shaped pressure plate 412.

[0074] Contact strip 413 is installed on the outside of the arc-shaped pressure plate 412. Multiple contact strips 413 are provided, and the contact strips 413 are made of rubber.

[0075] The second contact 414 is located on the outside of the arc-shaped pressure plate 412. Multiple second contacts 414 are provided. The arc-shaped pressure plate 412 has a built-in temperature sensor, and the second contacts 414 are connected to the temperature sensor.

[0076] Before using the equipment, manually insert the joint module to be tested into channel 410. At this time, the joint module to be tested is in contact with the four arc-shaped plates 406. Activate the contact assembly 409 to clean the second contact point 414 on the outside of the arc-shaped pressure plate 412. Then activate the second push rod 411, which moves the arc-shaped pressure plate 412 towards the joint module to be tested until the arc-shaped pressure plate 412 contacts and is fixed to the outside of the joint module to be tested. The contact strip 413 is compressed and contacts the outside of the joint module to be tested, and the second contact point 414 contacts the outside of the joint module to be tested. Activate the contact assembly 409 to limit and fix the cable of the joint module to be tested.

[0077] Then, manually turn the steering wheel 404 to control the screw 403 to rotate, thereby adjusting the position of the moving frame 401 outside the slide rail 3, installing the second flange 707 outside the joint module to be tested, and then manually installing the joint module to be tested and the swing plate 702.

[0078] During the testing of the joint module under test, the second contact 414 and the temperature sensor measure the temperature of the joint module under test. After long-term use, the temperature of the joint module under test gradually increases. Based on the signal reception time of the pressure sensor, the swing frequency of the swing plate 702 is determined, and then the influence of temperature on the joint module under test is determined, thereby determining the performance of the joint module under test.

[0079] The installation mechanism 4 is used to flexibly fix the joint module under test, and the position of the joint module under test is controlled by the moving frame 401. The joint module under test is flexibly fixed by using four curved rubber plates 406 and multiple rubber contact strips 413, and the position of the joint module under test is adjusted by controlling the forward or backward movement of the moving frame 401, so as to avoid damage to the external surface of the joint module under test due to rigid fixing or control of its movement.

[0080] Contact component 409 includes:

[0081] Connecting plate 4091 is installed on the outside of the second slider 408. There are two connecting plates 4091, which are arranged symmetrically.

[0082] The third push rod 4092 is installed on the outside of the connecting plate 4091. A connector 4093 is installed on the outside of the third push rod 4092. The connector 4093 is a welded part between the connecting rod and the outer ring.

[0083] The movable rod 4094 is installed inside the connector 4093. A brush head 4095 and a sharp corner plate 4096 are installed at the end of the movable rod 4094 away from the connector 4093, and a blocking plate 4098 is installed at the end of the movable rod 4094 close to the connector 4093.

[0084] Rubber housing 4097 is sleeved on the end of moving rod 4094 near connector 4093;

[0085] Buckle plate 4099 is installed inside the second slider 408. There are two buckle plates 4099, which are arranged symmetrically.

[0086] Before installing the joint module to be tested, turn on the power system in the second slider 408. The second slider 408 begins to move inside the second slide groove 407, which in turn drives the connecting plate 4091, the third push rod 4092, the connector 4093, the moving rod 4094, the brush head 4095, and the pointed plate 4096 to move. During the movement, the pointed plate 4096 contacts the arc-shaped plate 406, which plays the role of agitating the arc-shaped plate 406 and promoting the removal of impurities and dust from the outside of the arc-shaped plate 406.

[0087] Adjust the second slider 408 to the initial position, adjust the third push rod 4092 to the reciprocating motion mode, the third push rod 4092 drives the connecting part 4093 and the moving rod 4094 to move, the moving rod 4094 drives the brush head 4095 to move, the brush head 4095 contacts the contact strip 413 and the second contact point 414, promoting the removal of dust and impurities from the outside of the contact strip 413 and the second contact point 414.

[0088] After installing the joint module to be tested, adjust the third push rod 4092 to the initial state, and manually wrap part of the cable around the outside of the rubber shell 4097 to shorten the length of the cable piled on the workbench 2 and reduce the occurrence of the cable being dragged and rubbed on the workbench 2 due to the movement of the moving frame 401.

[0089] Before installing the joint module under test, the curved plate 406 is moved by the contact component 409 to facilitate the removal of impurities and dust from its exterior. Before installing the joint module under test, the brush head 4095 contacts the contact strip 413 and the second contact point 414 to further remove dust and impurities from their exteriors. After installing the joint module under test, excess cable length is removed, shortening the cable length accumulated on the workbench 2.

[0090] Testing facility 7 also includes:

[0091] The fourth push rod 701 is installed outside the first slider 6. A locking rod 703 is installed outside the fourth push rod 701. The outer surface of the locking rod 703 is rough. The locking rod 703 is connected to the swing plate 702 and penetrates the interior of the swing plate 702.

[0092] A retaining ring 705 is installed on the outside of the swing plate 702;

[0093] Clip 704 is sleeved on the outside of the locking rod 703 and is adapted to the fixing ring 705;

[0094] A connecting shaft 706 is installed inside the swing plate 702, and a flange 707 is installed on the outside of the connecting shaft 706;

[0095] Loading component 708 is mounted on the outside of swing plate 702.

[0096] Before using the equipment, the fourth push rod 701 is in the open state, the locking rod 703 passes through the inside of the swing plate 702, and the buckle 704 is locked on the outside of the fixing ring 705.

[0097] As the joint module under test moves to a position close to the swing plate 702, the first power system in the first slider 6 is activated, and the first slider 6 gradually moves to the center position in the first slide groove 5. The second flange 707 is manually connected to the flange 707 outside the connecting shaft 706, the fourth push rod 701 is adjusted to the initial state, and the buckle 704 is manually removed. At this time, the swing plate 702 is released from the restriction of the locking rod 703.

[0098] Adjust the loading component 708 to position the circular block in different positions. The joint module under test drives the swing plate 702 to swing through the rotating shaft. During the swing, the swing plate 702 begins to contact the first contact points 10 on both sides. The first contact points 10 transmit signals to the pressure sensor. Based on the signal reception time of the pressure sensor, the swing frequency is determined, and thus the performance of the joint module under test is determined.

[0099] Loading component 708 includes:

[0100] The fixing groove 7086 is formed inside the swing plate 702, and multiple fixing grooves 7086 are formed.

[0101] The fixing bracket 7084 is installed inside the fixing groove 7086, and the fixing bracket 7084 has a through hole inside;

[0102] Strap 7085 is installed on the outside of the fixing bracket 7084, and strap 7085 is made of rubber.

[0103] The base plate 7081 is installed on the outside of the swing plate 702. The top of the base plate 7081 is equipped with a fifth push rod 7082. There are two fifth push rods 7082, which are arranged symmetrically.

[0104] The locking post 7083 is installed on the top of the fifth push rod 7082 and passes through the through hole.

[0105] According to the test results, the joint module controls the swing plate 702 to be in a vertical state. The strap 7085 is manually moved to place round blocks of the same weight into different fixed frames 7084 in sequence. The strap 7085 is reset, the fifth push rod 7082 is activated, and the fifth push rod 7082 drives the locking post 7083 to move upward. The locking post 7083 limits the strap 7085 through the through holes of multiple locking frames.

[0106] Subsequently, circular blocks of different weights were placed in the same fixture 7084 in sequence, and the above limiting operation was repeated to observe the effect of different weights at different positions on the joint module under test.

[0107] The position of the swing plate 702 is restricted by the test mechanism 7 and the loading component 708. Before using the equipment, the position of the swing plate 702 is restricted by the locking rod 703, which facilitates the user to connect the swing plate 702 to the joint module under test. When using the equipment, the joint module controls the swing plate 702 to be in a vertical state, so that circular blocks of the same weight can be placed in different fixing frames 7084 in sequence, or circular blocks of different weights can be placed in the same fixing frame 7084 in sequence, to observe the effect of different weights at different positions on the joint module under test.

[0108] Working principle: Before using the equipment, manually insert the joint module to be tested into the channel 410. At this time, the joint module to be tested is in contact with the four arc-shaped plates 406. Then, adjust the position of the joint module to be tested by adjusting the mounting mechanism 4.

[0109] Before installing the joint module to be tested, turn on the power system in the second slider 408. The second slider 408 begins to move inside the second slide groove 407, which in turn drives the connecting plate 4091, the third push rod 4092, the connector 4093, the moving rod 4094, the brush head 4095, and the pointed plate 4096 to move. During the movement, the pointed plate 4096 contacts the arc-shaped plate 406, which plays the role of agitating the arc-shaped plate 406 and promoting the removal of impurities and dust from the outside of the arc-shaped plate 406.

[0110] Adjust the second slider 408 to the initial position, adjust the third push rod 4092 to the reciprocating motion mode, the third push rod 4092 drives the connecting part 4093 and the moving rod 4094 to move, the moving rod 4094 drives the brush head 4095 to move, the brush head 4095 contacts the contact strip 413 and the second contact point 414, promoting the removal of dust and impurities from the outside of the contact strip 413 and the second contact point 414.

[0111] Then, the second push rod 411 is activated, which moves the arc-shaped pressure plate 412 towards the joint module under test until the arc-shaped pressure plate 412 contacts and fixes itself to the outside of the joint module under test. The contact strip 413 is compressed and contacts the outside of the joint module under test, and the second contact point 414 contacts the outside of the joint module under test. The contact assembly 409 is then activated to limit and fix the cable of the joint module under test.

[0112] After installing the joint module to be tested, adjust the third push rod 4092 to the initial state, manually wrap part of the cable around the outside of the rubber housing 4097, and connect the other end of the cable to the power supply box.

[0113] Then, manually turn the steering wheel 404 to control the screw 403 to rotate, thereby adjusting the position of the moving frame 401 outside the slide rail 3, installing the second flange 707 outside the joint module to be tested, and then manually installing the joint module to be tested and the swing plate 702.

[0114] The first power system in the first slider 6 is activated, the first slider 6 moves to the middle position in the first slide groove 5, and the test mechanism 7 is adjusted so that the swing plate 702 is connected to the joint module to be tested.

[0115] As the joint module under test moves to a position close to the swing plate 702, the first power system in the first slider 6 is activated, and the first slider 6 gradually moves to the center position in the first slide groove 5. The second flange 707 is manually connected to the flange 707 outside the connecting shaft 706, the fourth push rod 701 is adjusted to the initial state, and the buckle 704 is manually removed. At this time, the swing plate 702 is released from the restriction of the locking rod 703.

[0116] Then, the first push rod 8 is activated, causing the moving plate 9 to move away from the body 1. The loading assembly 708 is adjusted to position the circular block in different locations.

[0117] Based on the test results, manually move the strap 7085 to place round blocks of the same weight into different fixing frames 7084 in sequence. The strap 7085 resets, and the fifth push rod 7082 is activated. The fifth push rod 7082 drives the locking post 7083 to move upward. The locking post 7083 limits the strap 7085 through the through holes of multiple locking frames.

[0118] Subsequently, circular blocks of different weights were placed in the same fixture 7084 in sequence, and the above limiting operation was repeated to observe the effect of different weights at different positions on the joint module under test.

[0119] Turn on the power supply box to control the opening of the joint module. The joint module starts to rotate the swing plate 702 through the rotating shaft. The swing plate 702 starts to swing and contacts the first contact points 10 on both sides. The first contact points 10 transmit the signal to the pressure sensor. Based on the time it takes for the pressure sensor to receive the signal, the swing frequency is determined, and then the performance of the joint module under test is determined.

[0120] During the testing of the joint module under test, the second contact 414 and the temperature sensor measure the temperature of the joint module under test. After long-term use, the temperature of the joint module under test gradually increases. Based on the signal reception time of the pressure sensor, the swing frequency of the swing plate 702 is determined, and then the influence of temperature on the joint module under test is determined, thereby determining the performance of the joint module under test.

[0121] Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art and related fields based on the embodiments of the present invention without inventive effort should fall within the scope of protection of the present invention. Structures, devices, and operating methods not specifically described and explained in the present invention, unless otherwise specified or limited, shall be implemented according to conventional means in the art.

Claims

1. A performance testing device for a humanoid robot joint module, comprising a body (1), characterized in that: A workbench (2) is installed on the top of the body (1); The slide rail (3) is mounted on the top of the workbench (2); The mounting mechanism (4) is slidably connected to the outside of the slide rail (3). The mounting mechanism (4) includes an arc-shaped pressure plate (412) and a second slider (408). A contact component (409) is installed on the outside of the second slider (408). The second slider (408) is used to drive the contact component (409) to contact the arc-shaped pressure plate (412). The first slide groove (5) is opened inside the body (1), and the first slider (6) is slidably connected inside the first slide groove (5). The test mechanism (7) is installed outside the first slider (6), and the test mechanism (7) includes a swing plate (702) for connecting to the joint module to be tested; The first push rod (8) is installed inside the body (1). There are two first push rods (8) arranged symmetrically. A movable plate (9) is mounted on the outside of a first push rod (8), and a first contact point (10) is mounted on the outside of the movable plate (9). Mounting bracket (11), which is set on the top of the workbench (2), and a power supply box is set at the bottom of the mounting bracket (11); The installation mechanism (4) also includes: The second push rod (411) is installed on the outside of the enclosure (402) and is connected to the arc-shaped pressure plate (412); Contact strip (413), the contact strip (413) is installed on the outside of the arc-shaped pressure plate (412), and multiple contact strips (413) are provided; The second contact (414) is disposed outside the arc-shaped pressure plate (412), and multiple second contacts (414) are provided; The testing facility (7) also includes: A connecting shaft (706) is installed inside the swing plate (702), and a flange (707) is installed on the outside of the connecting shaft (706). Loading assembly (708) is mounted on the outside of the swing plate (702).

2. The humanoid robot joint module performance testing equipment according to claim 1, characterized in that: The installation mechanism (4) also includes: A movable frame (401) is slidably connected to the outside of a slide rail (3). A screw (403) is installed on the outside of the movable frame (401), and a steering wheel (404) is installed on the outside of the screw (403). A partition (402) is installed on top of the movable frame (401), and a passage (410) is provided inside the partition (402).

3. The humanoid robot joint module performance testing equipment according to claim 2, characterized in that: The installation mechanism (4) also includes: A semi-ring plate (405) is installed on the outside of the enclosure plate (402) by screws. Two semi-ring plates (405) are provided and are arranged symmetrically. An arc-shaped plate (406) is installed on the outside of the semi-circular plate (405). Four arc-shaped plates (406) are provided and are evenly distributed. The second slide (407) is formed inside the enclosure (402), and the second slider (408) is slidably connected inside the second slide (407).

4. The humanoid robot joint module performance testing equipment according to claim 1, characterized in that: The contact assembly (409) includes: A connecting plate (4091) is installed outside the second slider (408). Two connecting plates (4091) are provided and are arranged symmetrically. The third push rod (4092) is installed on the outside of the connecting plate (4091), and a connector (4093) is installed on the outside of the third push rod (4092). A movable rod (4094) is installed inside the connector (4093). A brush head (4095) and a sharp corner plate (4096) are installed at the end of the movable rod (4094) away from the connector (4093), and a blocking plate (4098) is installed at the end of the movable rod (4094) close to the connector (4093). A rubber housing (4097) is sleeved on one end of the moving rod (4094) near the connector (4093); A buckle plate (4099) is installed inside the second slider (408). There are two buckle plates (4099) arranged symmetrically.

5. The humanoid robot joint module performance testing equipment according to claim 1, characterized in that: The testing facility (7) also includes: The fourth push rod (701) is installed outside the first slider (6). A locking rod (703) is installed outside the fourth push rod (701). The locking rod (703) is connected to the swing plate (702) and the locking rod (703) passes through the interior of the swing plate (702). A retaining ring (705) is mounted on the outside of the swing plate (702); A buckle (704) is sleeved on the outside of the locking rod (703), and the buckle (704) is adapted to the fixing ring (705).

6. The performance testing equipment for humanoid robot joint modules according to claim 5, characterized in that: The loading assembly (708) includes: A fixing groove (7086) is formed inside the swing plate (702), and multiple fixing grooves (7086) are formed. A fixing bracket (7084) is installed inside a fixing groove (7086), and a through hole is provided inside the fixing bracket (7084); A strap (7085) is installed on the outside of the fixing frame (7084), and the strap (7085) is made of rubber. A base plate (7081) is installed on the outside of the swing plate (702). A fifth push rod (7082) is installed on the top of the base plate (7081). There are two fifth push rods (7082) arranged symmetrically. A locking post (7083) is installed on top of the fifth push rod (7082) and the locking post (7083) passes through the through hole.

Images